# US 9,434,462 B2 · Self-righting frame and aeronautical vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,434,462 B2 - Document ID: US9434462B2 - Status: Granted - Kind: B2 - Application number: 14/977,546 - Filed: 2015-12-21 - Published: 2016-06-23 - Granted: 2016-09-06 - Earliest claimed: 2010-07-23 - Applicants: Gaofei Yan; James Dees - Inventors: Gaofei Yan; James Dees - Web page: https://patentgrep.com/patent/US9434462B2 ## CPC - B64C 1/00: Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like - A63H 15/06: Self-righting toys - A63H 27/12: {Helicopters (A63H27/04 takes precedence); Flying tops} - A63H 30/04: using wireless transmission - A63H 33/005: {Motorised rolling toys} - B64C 1/061: {Frames} - B64C 1/08: Geodetic or other open-frame structures - B64C 17/00: Aircraft stabilisation not otherwise provided for - B64C 27/10: arranged coaxially - B64U 10/13: Flying platforms - B64U 20/30: for safety, e.g. with frangible components (rotor guards B64U30/299) - B64U 20/83: Electronic components structurally integrated with aircraft elements, e.g. circuit boards carrying loads - B64U 30/24: Coaxial rotors - B64U 30/298: Helicopter flybars - B64U 60/60: with rolling cages - B64U 50/15: using combustion exhausts other than turbojets or turbofans, e.g. using rockets, ramjets, scramjets or pulse-reactors - B64U 2201/20: Remote controls - B64C: AEROPLANES; HELICOPTERS - A63H: TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS - B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR ## Abstract An aeronautical vehicle that rights itself from an inverted state to an upright state has a self-righting dome shaped vehicle body has an apex/protrusion preferably at a top of a central vertical axis. The apex/protrusion provides initial instability to begin a self-righting process when the vehicle is inverted on a surface. A lift and stabilization panel extends across an upper portion of said frame to provide lift, drag and/or stability. A propulsion system can be located within a central void of the frame assembly and oriented to provide a lifting force. An electronics assembly is also carried by the self-righting body for receiving remote control commands and is communicatively interconnected to the power supply for remotely controlling the aeronautical vehicle to take off, to fly, and to land on a supporting surface. The body provides self-righting functionality and protection of elements carried therein. ## Claims ### Claim 1 A self-righting aeronautical vehicle, comprising: a self-righting substantially dome shaped vehicle body having an upper region comprising an upper airflow passageway at an upper region, a lower airflow passageway at a lower region, and a convex exterior surface extending between the upper region and the lower region, the self-righting vehicle body defining an interior void, wherein the upper airflow passageway and the lower airflow passageway enable airflow into and from the interior void; at least one of an apex and a protrusion located generally centered within the upper region of the substantially dome shaped vehicle body, a propulsion system located within the interior void, wherein, the at least one of the apex and the protrusion is adapted to provide an initial instability to begin a self-righting process when said frame assembly lands from a position in air onto a generally horizontal surface oriented having the at least one of the apex and the protrusion contacting the generally horizontal surface. ### Claim 2 (depends on 1) The self-righting aeronautical vehicle as recited in claim 1, wherein the self-righting aeronautical vehicle is adapted to be instable when the self-righting aeronautical vehicle contacts the generally horizontal surface from flight. ### Claim 3 (depends on 1) The self-righting aeronautical vehicle as recited in claim 1, wherein at least a portion of the substantially dome shaped vehicle body has an elongated shape. ### Claim 4 (depends on 1) The self-righting aeronautical vehicle as recited in claim 1, wherein at least a portion of the convex exterior surface forms a substantially continuous looped shape. ### Claim 5 (depends on 1) The self-righting aeronautical vehicle as recited in claim 1, wherein the propulsion system is adapted to contribute to the self-righting process. ### Claim 6 (depends on 1) The self-righting aeronautical vehicle as recited in claim 1, comprising the apex, wherein the apex is located generally centered within the upper region of the self-righting substantially dome shaped vehicle body, wherein, the apex is adapted to provide the initial instability to begin a self-righting process when said frame assembly lands from a position in air onto a generally horizontal surface oriented having the apex contacting the generally horizontal surface. ### Claim 7 (depends on 1) The self-righting aeronautical vehicle as recited in claim 1, comprising the protrusion, wherein the protrusion is located generally centered within the upper region of the self-righting substantially dome shaped vehicle body, wherein, the protrusion is adapted to provide the initial instability to begin a self-righting process when said frame assembly lands from a position in air onto a generally horizontal surface oriented having the protrusion contacting the generally horizontal surface. ### Claim 8 (depends on 1) The self-righting aeronautical vehicle as recited in claim 1, wherein a center of gravity of the vehicle is located between a centroid of the self-righting substantially dome shaped vehicle body and a bottom of the lower region of the self-righting substantially dome shaped vehicle body. ### Claim 9 A self-righting aeronautical vehicle, comprising: a self-righting substantially dome shaped vehicle body having an upper region comprising an upper airflow passageway at an upper region, a lower airflow passageway at a lower region, and a convex exterior surface extending between the upper region and the lower region, the self-righting vehicle body defining an interior void, wherein the upper airflow passageway and the lower airflow passageway enable airflow into and from the interior void; at least one of an apex and a protrusion located generally centered within the at least one dome shaped section, a propulsion system located within the interior void, wherein, the at least one of the apex and the protrusion is adapted to provide an initial instability to begin a self-righting process when said frame assembly lands from a position in air onto a generally horizontal surface oriented having the at least one of the apex and the protrusion contacting the generally horizontal surface, wherein upon completion of a self righting process of the self-righting frame assembly, the propulsion system is oriented within the self-righting frame assembly to provide a lift force to the self-righting aeronautical vehicle. ### Claim 10 (depends on 9) The self-righting aeronautical vehicle as recited in claim 9, wherein the self-righting aeronautical vehicle is adapted to be instable when the self-righting aeronautical vehicle contacts the generally horizontal surface from flight. ### Claim 11 (depends on 9) The self-righting aeronautical vehicle as recited in claim 9, wherein at least a portion of the substantially dome shaped vehicle body has an elongated shape. ### Claim 12 (depends on 9) The self-righting aeronautical vehicle as recited in claim 9, wherein at least a portion of the substantially dome shaped vehicle body forms a substantially continuous looped shape. ### Claim 13 (depends on 9) The self-righting aeronautical vehicle as recited in claim 9, wherein the propulsion system is adapted to contribute to the self-righting process. ### Claim 14 (depends on 9) The self-righting aeronautical vehicle as recited in claim 9, comprising the apex, wherein the apex is located generally centered within the upper region of the self-righting substantially dome shaped vehicle body, wherein, the apex is adapted to provide the initial instability to begin a self-righting process when said frame assembly lands from a position in air onto a generally horizontal surface oriented having the apex contacting the generally horizontal surface. ### Claim 15 (depends on 9) The self-righting aeronautical vehicle as recited in claim 9, comprising the protrusion, wherein the protrusion is located generally centered within the upper region of the self-righting substantially dome shaped vehicle body, wherein, the protrusion is adapted to provide the initial instability to begin a self-righting process when said frame assembly lands from a position in air onto a generally horizontal surface oriented having the protrusion contacting the generally horizontal surface. ### Claim 16 (depends on 9) The self-righting aeronautical vehicle as recited in claim 9, wherein a center of gravity of the vehicle is located between a centroid of the self-righting substantially dome shaped vehicle body and a bottom of the lower region of the self-righting substantially dome shaped vehicle body. ### Claim 17 A self-righting aeronautical vehicle, comprising: a self-righting frame assembly having a plurality of frame members, the frame members being arranged in a fixed spatial relationship providing a passageway for airflow into and from an interior void, at least one of an apex and a protrusion located generally centered within the at least one arched section, a propulsion system located within the interior void, wherein upon completion of a self righting process of the self-righting frame assembly, the propulsion system is oriented within the self-righting frame assembly to provide a lift force to the self-righting aeronautical vehicle, wherein, the at least one of an apex and a protrusion is adapted to provide an initial instability to begin a self-righting process when said frame assembly lands from a position in air onto a generally horizontal surface oriented having the at least one of an apex and a protrusion contacting the generally horizontal surface, wherein upon completion of a self righting process of the self-righting frame assembly, the propulsion system is oriented in a substantially vertical orientation. ### Claim 18 (depends on 17) The self-righting aeronautical vehicle as recited in claim 17, wherein the self-righting aeronautical vehicle is adapted to be instable when the self-righting aeronautical vehicle contacts the generally horizontal surface from flight. ### Claim 19 (depends on 17) The self-righting aeronautical vehicle as recited in claim 17, wherein at least a portion of the substantially dome shaped vehicle body has an elongated shape. ### Claim 20 (depends on 17) The self-righting aeronautical vehicle as recited in claim 17, wherein at least a portion of the substantially dome shaped vehicle body forms a substantially continuous looped shape. ### Claim 21 (depends on 17) The self-righting aeronautical vehicle as recited in claim 17, wherein the propulsion system is adapted to contribute to the self-righting process. ### Claim 22 (depends on 17) The self-righting aeronautical vehicle as recited in claim 17, comprising the apex, wherein the apex is located generally centered within the upper region of the self-righting substantially dome shaped vehicle body, wherein, the apex is adapted to provide the initial instability to begin a self-righting process when said frame assembly lands from a position in air onto a generally horizontal surface oriented having the apex contacting the generally horizontal surface. ### Claim 23 (depends on 17) The self-righting aeronautical vehicle as recited in claim 17, comprising the protrusion, wherein the protrusion is located generally centered within the upper region of the self-righting substantially dome shaped vehicle body, wherein, the protrusion is adapted to provide the initial instability to begin a self-righting process when said frame assembly lands from a position in air onto a generally horizontal surface oriented having the protrusion contacting the generally horizontal surface. ### Claim 24 (depends on 17) The self-righting aeronautical vehicle as recited in claim 17, wherein a center of gravity of the vehicle is located between a centroid of the self-righting substantially dome shaped vehicle body and a bottom of the lower region of the self-righting substantially dome shaped vehicle body.